CN115776722A - Multi-data link positioning method, system, device and computer readable storage medium - Google Patents
Multi-data link positioning method, system, device and computer readable storage medium Download PDFInfo
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Abstract
The invention discloses a method, a system, equipment and a computer readable storage medium for positioning multiple data links, wherein the method comprises the following steps: when a flight control unit of an aircraft acquires position data, acquiring first positioning data through a first differential positioning module connected with the flight control unit; receiving second positioning data sent by a second spread spectrum communication module of the control station through a first spread spectrum communication module connected with the first differential positioning module; receiving, by a first cellular communication module connected to the flight control unit, third positioning data sent by a second cellular communication module of the control station; and correcting the first positioning data through the second positioning data and/or the third positioning data, and taking a correction result as the position data. The invention realizes a remote positioning scheme of multiple data links, and greatly improves the accuracy, effectiveness and instantaneity of positioning of the aircraft.
Description
Technical Field
The invention relates to the technical field of unmanned aircrafts, in particular to a multi-data link positioning method, a multi-data link positioning system, multi-data link positioning equipment and a computer readable storage medium.
Background
At present, common wireless transmission modes include Wi-Fi, GPRS, 2.4GHz, 433MHz and the like, which can form a mesh network and a star network to be suitable for various wireless data acquisition and transmission systems, and meanwhile, can be matched with related wireless transmission network transmission products to realize wireless data acquisition and transmission in various environments.
However, considering that Wi-Fi has a communication distance of about 300 meters in an open area environment, and has a communication distance of only 70 meters to 120 meters in a closed area environment; 2.4 GHz-wireless communication, the transmission distance is about 200 m to 1000 m; 433 MHz-wireless communication, with transmission distances of around 2 km to 3 km.
Based on this, when unmanned aerial vehicle utilized above any kind of wireless communication mode to realize data transmission at present, on the one hand, there was the problem that communication transmission distance is restricted, and on the other hand, still there was because of receiving external electric wave interference, geographic environment influence to cause, communication transmission distance further reduces and communication transmission quality descends the problem.
Disclosure of Invention
In order to solve the technical defects in the prior art, the invention provides a method for positioning multiple data links, which comprises the following steps:
when a flight control unit of an aircraft acquires position data, acquiring first positioning data through a first differential positioning module connected with the flight control unit;
receiving second positioning data sent by a second spread spectrum communication module of the control station through a first spread spectrum communication module connected with the first differential positioning module;
receiving, by a first cellular communication module connected to the flight control unit, third positioning data sent by a second cellular communication module of the control station;
and correcting the first positioning data through the second positioning data and/or the third positioning data, and taking a correction result as the position data.
Optionally, when the flight control unit of the aircraft acquires the position data, acquiring first positioning data through a first differential positioning module connected to the flight control unit includes:
when the flight control unit of the aircraft acquires the position data, detecting whether the first differential positioning module acquires the first positioning data;
and when the first differential positioning module acquires the first positioning data, the first positioning data is transmitted to the flight control unit by the first differential positioning module through a serial port protocol.
Optionally, the receiving, by a first spread spectrum communication module connected to the first differential positioning module, second positioning data sent by a second spread spectrum communication module of a control station includes:
detecting whether the first spread spectrum communication module receives the second positioning data and whether the first cellular communication module receives the third positioning data;
when the second positioning data is received, the first spread spectrum communication module transmits the second positioning data to the first differential positioning module through a serial port data cable, and the first differential positioning module transmits the second positioning data to the flight control unit through a serial port protocol.
Optionally, the receiving, by a first cellular communication module connected to the flight control unit, third positioning data sent by a second cellular communication module of the control station includes:
detecting whether the first spread spectrum communication module receives the second positioning data and whether the first cellular communication module receives the third positioning data;
and when the third positioning data is received, the first cellular communication module transmits the third positioning data to the flight control unit through a serial port protocol.
Optionally, the correcting the first positioning data by the second positioning data and/or the third positioning data, and taking a correction result as the position data includes:
within a first preset time after the flight control unit receives the first positioning data, if the flight control unit receives the second positioning data or the third positioning data, the first positioning data is corrected through the second positioning data or the third positioning data, and a correction result is used as the position data;
if the flight control unit receives the second positioning data and the third positioning data, the second positioning data and the third positioning data are compared to obtain fourth positioning data, the first positioning data are corrected through the fourth positioning data, and a correction result is used as the position data.
Optionally, the correcting the first positioning data by the second positioning data and/or the third positioning data, and taking a correction result as the position data, further includes:
within a second preset time when the flight control unit receives the second positioning data and the third positioning data, if the flight control unit receives the first positioning data, the first positioning data is corrected through the second positioning data and/or the third positioning data, and a correction result is used as the position data;
and if the flight control unit does not receive the first positioning data, comparing the second positioning data with the third positioning data to obtain fourth positioning data, and taking the fourth positioning data as the position data.
The invention also provides a multi-data link positioning method, which is applied to the control station and comprises the following steps:
when an acquisition instruction of a flight control unit of the aircraft for position data is acquired, acquiring positioning data through a second differential positioning module of the control station;
sending the positioning data as second positioning data to a first spread spectrum communication module of an aircraft through a second spread spectrum communication module connected with the second differential positioning module;
transmitting the positioning data as third positioning data to a first cellular communication module of the aircraft through a second cellular communication module connected to the second differential positioning module;
after the aircraft receives the second positioning data and/or the third positioning data, the first positioning data acquired by the first differential positioning module of the aircraft is corrected through the second positioning data and/or the third positioning data, and a correction result is used as the position data.
The invention also provides a multiple data link positioning system, which comprises an aircraft and a control station, wherein:
the aircraft comprises a flight control unit, a first differential positioning module connected with the flight control unit, a first spread spectrum communication module connected with the first differential positioning module, and a first cellular communication module connected with the flight control unit;
the control station comprises a second differential positioning module, a second spread spectrum communication module connected with the second differential positioning module and a second cellular communication module connected with the second differential positioning module;
the flight control unit is used for receiving first positioning data acquired by the first differential positioning module;
the flight control unit is further used for receiving second positioning data sent by a second spread spectrum communication module of the control station through a first spread spectrum communication module connected with the first differential positioning module;
the flight control unit is further configured to receive, via a first cellular communication module connected to the flight control unit, third positioning data sent by a second cellular communication module of the control station;
the flight control unit is further configured to correct the first positioning data by the second positioning data and/or the third positioning data, and use a correction result as the position data.
The invention also proposes a multiple data link positioning device comprising a memory, a processor and a computer program stored on said memory and executable on said processor, said computer program, when executed by said processor, implementing the steps of the multiple data link positioning method as defined in any one of the above.
The present invention also provides a computer readable storage medium having stored thereon a multiple data link positioning program, the multiple data link positioning program when executed by a processor implementing the steps of the multiple data link positioning method as described in any of the above.
When the multi-data link positioning method, the equipment and the computer readable storage medium are implemented, when the flight control unit of an aircraft acquires position data, the first positioning data is acquired through the first differential positioning module connected with the flight control unit; receiving second positioning data sent by a second spread spectrum communication module of the control station through a first spread spectrum communication module connected with the first differential positioning module; receiving, by a first cellular communication module connected to the flight control unit, third positioning data sent by a second cellular communication module of the control station; and correcting the first positioning data through the second positioning data and/or the third positioning data, and taking a correction result as the position data. The remote positioning scheme of multiple data links is realized, the problems of reduction of communication transmission distance and reduction of communication transmission quality caused by external electric wave interference and geographical environment influence are effectively solved, and the accuracy, effectiveness and instantaneity of positioning of the aircraft are greatly improved.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a first flowchart of a multiple data link positioning method of the present invention;
FIG. 2 is a second flow chart of a multiple data link positioning method of the present invention;
FIG. 3 is a third flowchart of a multiple data link positioning method of the present invention;
FIG. 4 is a fourth flowchart of a multiple data link positioning method of the present invention;
FIG. 5 is a fifth flowchart of a multiple data link positioning method of the present invention;
FIG. 6 is a sixth flowchart of a multiple data link positioning method of the present invention;
FIG. 7 is a seventh flowchart of a multiple data link positioning method of the present invention;
fig. 8 is a block diagram of a multiple data link positioning system of the present invention.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for facilitating the explanation of the present invention, and have no specific meaning in itself. Thus, "module", "component" or "unit" may be used mixedly.
Fig. 1 is a first flowchart of a multiple data link positioning method of the present invention. The embodiment provides a method for positioning multiple data links, which comprises the following steps:
s1, when a flight control unit of an aircraft acquires position data, acquiring first positioning data through a first differential positioning module connected with the flight control unit;
s2, receiving second positioning data sent by a second spread spectrum communication module of the control station through a first spread spectrum communication module connected with the first differential positioning module;
s3, receiving third positioning data sent by a second cellular communication module of the control station through a first cellular communication module connected with the flight control unit;
and S4, correcting the first positioning data through the second positioning data and/or the third positioning data, and taking a correction result as the position data.
In this embodiment, a two-way positioning and correcting scheme is adopted, so that the position data finally acquired by the flight control unit is more accurate and more stable. Specifically, in this embodiment, the first path adopts a brand new generation of LoRa (Long Range Radio) wireless technology in the global unlicensed ISM868/915MHz band, and based on the 850 MHz-930 MHz LoRa spread spectrum technology, the wireless communication system has the advantages of Long transmission distance, low power consumption, high speed, small size, wireless configuration, carrier monitoring, automatic continuation and the like, supports a user to set a communication key by himself, cannot be read, greatly improves the confidentiality of user data, supports a Listen Before Talk (Listen) function, monitors channel environment noise in a transmission process, can greatly improve a communication success rate in a severe environment, supports a Received Signal Strength Indicator (RSSI), can be used for evaluating Signal quality, is amplified by a built-in PA, has a communication distance of 10 kilometers under an ideal condition, and can support a data transmission rate of 0.3 Kbps-62.5 Kbps.
In this embodiment, a control station at the ground end carries a differential Global positioning System (GNSS) RTK (Real Time Kinematic) receiver, collects data from satellites, transmits the data to an aircraft at the air end through a link of a LoRa wireless spread spectrum technology, and performs coordinate correction by comparing the received differential correction value with a measurement value received by an unmanned aerial vehicle onboard RTK receiver, so as to improve error accuracy when the aircraft performs position coordinate positioning.
The second path of the embodiment adopts 4G LTE mobile operator communication, supports TCP and UDP network protocols, uses the advantage of wide network coverage of operators, basically has no communication distance limitation, and has the characteristics of wide network coverage, strong anti-interference capability, support of network AT instructions, capability of remotely configuring equipment through a network, and the like. The transmission link of this embodiment simultaneously transmits data collected from the satellites by the differential global positioning system GNSS RTK receiver of the control station on the ground side to the aircraft on the air side for error correction with data collected from the satellites acquired by the differential global positioning system GNSS RTK receiver on board the aircraft.
In this embodiment, the two ways of combination are used for networking data link transmission communication, so that the difference global positioning system GNSS RTK can be stably, rapidly and accurately positioned on the unmanned aerial vehicle or the unmanned aerial vehicle cluster.
Referring to fig. 8, a block diagram of modules is shown, in this embodiment, a differential global positioning system GNSS RTK module is built in a control station at the ground end, and the module is connected with an LoRa spread spectrum communication module and a 4G mobile communication module respectively through data cables. Further, the control station can be linked with a host computer at the computer end through a cable (not shown in the figure).
In this embodiment, the LoRa spread spectrum communication module on the air terminal (unmanned aerial vehicle) is connected with the GNSS RTK module of the differential global positioning system on the aircraft through a cable, and the 4G mobile communication module is connected with the flight control system through a cable.
In this embodiment, the ground terminal (ground station) LoRa spread spectrum technology module transmits the data received by the ground global positioning system GNSS RTK module to the air terminal (unmanned aerial vehicle) LoRa module through wireless transmission and to the onboard differential global positioning system GNSS RTK module through (serial port) data cable. The ground terminal (ground station) 4G mobile communication module wirelessly transmits the data received by the ground global positioning system GNSS RTK module to the airborne 4G mobile communication module through the 4G mobile communication technology.
In this embodiment, the air-side (unmanned aerial vehicle) flight control system performs error calculation and correction on two paths of ground global positioning system GNSS RTK data and on-board-side global positioning system GNSS RTK data respectively acquired by a (serial port) protocol, and performs position coordinate positioning.
Optionally, in this embodiment, the 4G mobile communication link may be implemented by replacing it with other low-cost 433MHz wireless communication technology.
Optionally, in this embodiment, the 4G mobile communication link may be implemented by replacing it with other 5G mobile communication technologies with higher cost and higher bandwidth.
It can be seen that, in this embodiment, the designed two parallel links integrate multiple communication link combinations, so that two data communication transmission links between the control station and the aircraft are provided, and the error accuracy and the positioning speed of the GNSS RTK data of the global positioning system are improved when the unmanned aerial vehicle is positioned.
In this embodiment, the designed wireless transmission data link between the control station and the aircraft makes full use of satellite data received by the differential global positioning system GNSS RTK, and transmits the satellite data to the unmanned aerial vehicle aircraft through the LoRa spread spectrum communication link and the 4G mobile communication link, and performs position error correction with the satellite data received by the unmanned aerial vehicle airborne differential global positioning system GNSS RTK, thereby ensuring the accuracy and timeliness of the aircraft in flight control positioning.
In this embodiment, the data link design of integrated LoRa communication, 4G communication two-way combination, and combine the control station to carry out one-to-one (end-to-end) mode, or one-to-many (broadcasting) mode long-range wireless data transmission scheme to integrated GNSS module, loRa module, 4G mobile communication module's aircraft, have small-size lightweight, quick location, low-power consumption and the strong advantage of long-distance communication ability, the control station on ground end that designs possesses abundant external wireless communication interface, thereby its adaptability has been strengthened, can improve the flight safety of aircraft products such as unmanned aerial vehicle by very big degree, accuracy, reliability and real-time when having strengthened the position location.
Referring to fig. 2, in this embodiment, when the flight control unit of the aircraft acquires the position data, acquiring the first positioning data through the first differential positioning module connected to the flight control unit includes:
s11, when the flight control unit of the aircraft acquires the position data, detecting whether the first differential positioning module acquires the first positioning data;
and S12, when the first differential positioning module acquires the first positioning data, the first positioning data is transmitted to the flight control unit by the first differential positioning module through a serial port protocol.
Optionally, in this embodiment, when the flight control unit of the aircraft acquires the position data, it is first detected whether the first differential positioning module acquires the first positioning data, and then detected whether the first spread spectrum communication module receives the second positioning data and whether the first cellular communication module receives the third positioning data.
Referring to fig. 3, in this embodiment, the receiving, by the first spread spectrum communication module connected to the first differential positioning module, the second positioning data sent by the second spread spectrum communication module of the control station includes:
s21, detecting whether the second positioning data is received by the first spread spectrum communication module, and whether the third positioning data is received by the first cellular communication module;
s22, when the second positioning data is received, the first spread spectrum communication module transmits the second positioning data to the first differential positioning module through a serial port data cable, and the first differential positioning module transmits the second positioning data to the flight control unit through a serial port protocol.
Optionally, in this embodiment, when the second positioning data is received, on one hand, the first positioning data may be preferentially corrected according to the second positioning data, so as to obtain final position data, and on the other hand, after the first positioning data is preferentially corrected according to the second positioning data, third positioning data is waited, when the real-time requirement is high, the corrected data is directly used as the final position data, and when the real-time requirement is low, the third positioning data is waited, and correction is performed again, so as to obtain the final position data.
Referring to fig. 4, in this embodiment, the receiving, by the first cellular communication module connected to the flight control unit, the third positioning data sent by the second cellular communication module of the control station includes:
s31, detecting whether the first spread spectrum communication module receives the second positioning data, and whether the first cellular communication module receives the third positioning data;
and S32, when the third positioning data is received, the first cellular communication module transmits the third positioning data to the flight control unit through a serial port protocol.
Optionally, in this embodiment, as described in the above example, when the third positioning data is received, on one hand, the first positioning data may be preferentially corrected according to the third positioning data, so as to obtain final position data, and on the other hand, after the first positioning data is preferentially corrected according to the third positioning data, the second positioning data is waited, when the real-time requirement is high, the corrected data is directly used as the final position data, and when the real-time requirement is low, the second positioning data is waited, and the correction is performed again, so as to obtain the final position data.
Referring to fig. 5, in this embodiment, the correcting the first positioning data by the second positioning data and/or the third positioning data, and using the corrected result as the position data includes:
s41, in a first preset time after the flight control unit receives the first positioning data, if the flight control unit receives the second positioning data or the third positioning data, correcting the first positioning data through the second positioning data or the third positioning data, and taking a correction result as the position data;
s42, if the flight control unit receives the second positioning data and the third positioning data, comparing the second positioning data with the third positioning data to obtain fourth positioning data, correcting the first positioning data through the fourth positioning data, and taking a correction result as the position data.
Optionally, in this embodiment, when the distance between the aircraft and the control station exceeds the effective distance of the LoRa spread spectrum technology, if the flight control unit receives the third positioning data within a first preset time after the flight control unit receives the first positioning data, the flight control unit corrects the first positioning data by using the third positioning data, and uses the correction result as the position data;
optionally, in this embodiment, when the distance between the aircraft and the control station does not exceed the effective distance of the LoRa spread spectrum technology, if the flight control unit receives the second positioning data and the third positioning data, the second positioning data and the third positioning data are compared to obtain fourth positioning data, the fourth positioning data is used to correct the first positioning data, and the correction result is used as the position data.
Referring to fig. 6, in this embodiment, the correcting the first positioning data according to the second positioning data and/or the third positioning data, and taking the corrected result as the position data, further includes:
s43, in a second preset time when the flight control unit receives the second positioning data and the third positioning data, if the flight control unit receives the first positioning data, the first positioning data is corrected through the second positioning data and/or the third positioning data, and a correction result is used as the position data;
s44, if the flight control unit does not receive the first positioning data, comparing the second positioning data with the third positioning data to obtain fourth positioning data, and taking the fourth positioning data as the position data.
Optionally, in this embodiment, when the distance between the aircraft and the control station does not exceed the effective distance of the LoRa spread spectrum technology, if the flight control unit does not receive the first positioning data, the second positioning data and the third positioning data are compared to obtain fourth positioning data, and the fourth positioning data is used as the position data.
The method has the advantages that when the position data are obtained through the flight control unit of the aircraft, the first positioning data are obtained through the first differential positioning module connected with the flight control unit; receiving second positioning data sent by a second spread spectrum communication module of the control station through a first spread spectrum communication module connected with the first differential positioning module; receiving, by a first cellular communication module connected to the flight control unit, third positioning data sent by a second cellular communication module of the control station; and correcting the first positioning data through the second positioning data and/or the third positioning data, and taking a correction result as the position data. The remote positioning scheme of multiple data links is realized, the problems of reduction of communication transmission distance and reduction of communication transmission quality caused by external electric wave interference and geographical environment influence are effectively solved, and the accuracy, effectiveness and instantaneity of positioning of the aircraft are greatly improved.
Referring to fig. 7, based on the foregoing embodiment, the present invention further provides a multiple data link positioning method applied to a control station, where the method includes:
s51, when an acquisition instruction of a flight control unit of the aircraft for position data is acquired, acquiring positioning data through a second differential positioning module of the control station;
s52, sending the positioning data serving as second positioning data to a first spread spectrum communication module of the aircraft through a second spread spectrum communication module connected with the second differential positioning module;
s53, sending the positioning data serving as third positioning data to a first cellular communication module of the aircraft through a second cellular communication module connected with the second differential positioning module;
and S54, after the aircraft receives the second positioning data and/or the third positioning data, correcting the first positioning data acquired by the first differential positioning module of the aircraft through the second positioning data and/or the third positioning data, and taking a correction result as the position data.
In this embodiment, a two-way positioning and correcting scheme is adopted, so that the position data finally acquired by the flight control unit is more accurate and more stable. Specifically, in this embodiment, the first path adopts a brand new generation of LoRa (Long Range Radio) wireless technology in the global unlicensed ISM868/915MHz band, and based on the 850 MHz-930 MHz LoRa spread spectrum technology, the wireless communication system has the advantages of Long transmission distance, low power consumption, high speed, small size, wireless configuration, carrier monitoring, automatic continuation and the like, supports a user to set a communication key by himself, cannot be read, greatly improves the confidentiality of user data, supports a Listen Before Talk (Listen) function, monitors channel environment noise in a transmission process, can greatly improve a communication success rate in a severe environment, supports a Received Signal Strength Indicator (RSSI), can be used for evaluating Signal quality, is amplified by a built-in PA, has a communication distance of 10 kilometers under an ideal condition, and can support a data transmission rate of 0.3 Kbps-62.5 Kbps.
In this embodiment, a control station at the ground side carries a differential Global positioning System (GNSS) RTK (Real Time Kinematic) receiver, collects data from satellites, transmits the data to an aircraft at the air side through a link of a LoRa wireless spread spectrum technology, and performs coordinate correction by comparing the received differential correction value with a measurement value received by an airborne RTK GNSS receiver of an unmanned aerial vehicle, thereby improving error accuracy of the aircraft in positioning position coordinates.
The second path of the embodiment adopts 4G LTE mobile operator communication, supports TCP and UDP network protocols, uses the advantage of wide network coverage of operators, basically has no communication distance limitation, and has the characteristics of wide network coverage, strong anti-interference capability, support of network AT instructions, capability of remotely configuring equipment through a network, and the like. The transmission link of this embodiment simultaneously transmits data collected from the satellites by the differential global positioning system GNSS RTK receiver of the control station on the ground side to the aircraft on the air side for error correction with data collected from the satellites acquired by the differential global positioning system GNSS RTK receiver on board the aircraft.
In this embodiment, the two ways of combination are used for networking data link transmission communication, so that the difference global positioning system GNSS RTK can be stably, rapidly and accurately positioned on the unmanned aerial vehicle or the unmanned aerial vehicle cluster.
Referring to fig. 8, a block diagram of modules is shown, in this embodiment, a control station at the ground side is internally provided with a differential global positioning system GNSS RTK module, and the module is connected with an LoRa spread spectrum communication module and a 4G mobile communication module through data cables. Further, the control station can be linked with a host computer (not shown) at the computer end through a cable.
In this embodiment, the LoRa spread spectrum communication module on the air terminal (unmanned aerial vehicle) is connected with the GNSS RTK module of the differential global positioning system on the aircraft through a cable, and the 4G mobile communication module is connected with the flight control system through a cable.
In this embodiment, the ground terminal (ground station) LoRa spread spectrum technology module transmits the data received by the ground global positioning system GNSS RTK module to the air terminal (unmanned aerial vehicle) LoRa module through wireless transmission and to the onboard differential global positioning system GNSS RTK module through (serial port) data cable. The ground terminal (ground station) 4G mobile communication module wirelessly transmits the data received by the ground global positioning system GNSS RTK module to the airborne 4G mobile communication module through the 4G mobile communication technology.
In this embodiment, the air-side (unmanned aerial vehicle) flight control system performs error calculation and correction on two paths of ground global positioning system GNSS RTK data and on-board-side global positioning system GNSS RTK data respectively acquired by a (serial port) protocol, and performs position coordinate positioning.
Optionally, in this embodiment, the 4G mobile communication link may be implemented by replacing it with other low-cost 433MHz wireless communication technology.
Optionally, in this embodiment, the 4G mobile communication link may be implemented by replacing it with other 5G mobile communication technologies with higher cost and higher bandwidth.
It can be seen that, in this embodiment, the designed two parallel links integrate multiple communication link combinations, so that two data communication transmission links between the control station and the aircraft are provided, and the error accuracy and the positioning speed of the GNSS RTK data of the global positioning system are improved when the unmanned aerial vehicle is positioned.
In this embodiment, the designed wireless transmission data link between the control station and the aircraft makes full use of satellite data received by the differential global positioning system GNSS RTK, and transmits the satellite data to the unmanned aerial vehicle aircraft through the LoRa spread spectrum communication link and the 4G mobile communication link, and performs position error correction with the satellite data received by the unmanned aerial vehicle airborne differential global positioning system GNSS RTK, thereby ensuring the accuracy and timeliness of the aircraft in flight control positioning.
In this embodiment, the data link design of integrated LoRa communication, 4G communication two-way combination, and combine the control station to carry out one-to-one (end-to-end) mode, or one-to-many (broadcasting) mode long-range wireless data transmission scheme to integrated GNSS module, loRa module, 4G mobile communication module's aircraft, have small-size lightweight, quick location, low-power consumption and the strong advantage of long-distance communication ability, the control station on ground end that designs possesses abundant external wireless communication interface, thereby its adaptability has been strengthened, can improve the flight safety of aircraft products such as unmanned aerial vehicle by very big degree, accuracy, reliability and real-time when having strengthened the position location.
It should be noted that the embodiment applied to the control station and the embodiment applied to the aircraft belong to the same concept, and specific implementation processes thereof are detailed in the embodiments of the aircraft, and technical features in the embodiments of the aircraft are correspondingly applicable in the embodiments of the control station, and are not described again here.
Referring to fig. 8, based on the above embodiment, the present invention further provides a multiple data link positioning system, which includes an aircraft and a control station, wherein:
the aircraft 100 includes a flight control unit 110, a first differential positioning module 120 coupled to the flight control unit 110, a first spread spectrum communication module 130 coupled to the first differential positioning module 120, and a first cellular communication module 140 coupled to the flight control unit 110;
the control station 200 comprises a second differential positioning module 210, a second spread spectrum communication module 220 connected to the second differential positioning module 210, and a second cellular communication module 230 connected to the second differential positioning module 220;
the flight control unit 210 is configured to receive the first positioning data acquired by the first differential positioning module 120;
the flight control unit 210 is further configured to receive, through the first spread spectrum communication module 130 connected to the first differential positioning module 120, second positioning data sent by the second spread spectrum communication module 220 of the control station;
the flight control unit 210 is further configured to receive, via the first cellular communication module 140 connected to the flight control unit 110, third positioning data transmitted by the second cellular communication module 230 of the control station;
the flight control unit 210 is further configured to correct the first positioning data by the second positioning data and/or the third positioning data, and use a correction result as the position data.
It should be noted that the system embodiment and the method embodiment belong to the same concept, and specific implementation processes thereof are detailed in the method embodiment, and technical features in the method embodiment are correspondingly applicable in the system embodiment, which is not described herein again.
Based on the above embodiments, the present invention further provides a multiple data link positioning device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the computer program is executed by the processor, the steps of the multiple data link positioning method as described in any one of the above are implemented.
It should be noted that the apparatus embodiment and the method embodiment belong to the same concept, and specific implementation processes thereof are detailed in the method embodiment, and technical features in the method embodiment are applicable in the apparatus embodiment, which is not described herein again.
Based on the above embodiment, the present invention further provides a computer readable storage medium, having stored thereon a multiple data link positioning program, which when executed by a processor, implements the steps of the multiple data link positioning method as described in any of the above.
It should be noted that the media embodiment and the method embodiment belong to the same concept, and specific implementation processes thereof are detailed in the method embodiment, and technical features in the method embodiment are correspondingly applicable in the media embodiment, which is not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one of 8230, and" comprising 8230does not exclude the presence of additional like elements in a process, method, article, or apparatus comprising the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the description of the foregoing embodiments, it is clear to those skilled in the art that the method of the foregoing embodiments may be implemented by software plus a necessary general hardware platform, and certainly may also be implemented by hardware, but in many cases, the former is a better implementation. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A multiple data link positioning method applied to an aircraft, the method comprising:
when a flight control unit of an aircraft acquires position data, acquiring first positioning data through a first differential positioning module connected with the flight control unit;
receiving second positioning data sent by a second spread spectrum communication module of the control station through a first spread spectrum communication module connected with the first differential positioning module;
receiving, by a first cellular communication module connected to the flight control unit, third positioning data sent by a second cellular communication module of the control station;
and correcting the first positioning data through the second positioning data and/or the third positioning data, and taking a correction result as the position data.
2. The multiple data link positioning method of claim 1, wherein the acquiring first positioning data by a first differential positioning module coupled to a flight control unit of an aircraft while acquiring position data comprises:
when the flight control unit of the aircraft acquires the position data, detecting whether the first differential positioning module acquires the first positioning data;
and when the first differential positioning module acquires the first positioning data, the first differential positioning module transmits the first positioning data to the flight control unit through a serial port protocol.
3. The multiple data link positioning method of claim 2, wherein receiving second positioning data transmitted by a second spread spectrum communication module of a control station through a first spread spectrum communication module connected to the first differential positioning module comprises:
detecting whether the second positioning data is received by the first spread spectrum communication module and whether the third positioning data is received by the first cellular communication module;
when the second positioning data is received, the first spread spectrum communication module transmits the second positioning data to the first differential positioning module through a serial port data cable, and the first differential positioning module transmits the second positioning data to the flight control unit through a serial port protocol.
4. The multiple data link positioning method of claim 3, wherein receiving, by the first cellular communication module coupled to the flight control unit, third positioning data transmitted by the second cellular communication module of the control station comprises:
detecting whether the first spread spectrum communication module receives the second positioning data and whether the first cellular communication module receives the third positioning data;
and when the third positioning data is received, the first cellular communication module transmits the third positioning data to the flight control unit through a serial port protocol.
5. The multiple data link positioning method according to claim 4, wherein the correcting the first positioning data by the second positioning data and/or the third positioning data and using the correction result as the position data comprises:
within a first preset time after the flight control unit receives the first positioning data, if the flight control unit receives the second positioning data or the third positioning data, the first positioning data is corrected through the second positioning data or the third positioning data, and a correction result is used as the position data;
if the flight control unit receives the second positioning data and the third positioning data, the second positioning data and the third positioning data are compared to obtain fourth positioning data, the first positioning data are corrected through the fourth positioning data, and a correction result is used as the position data.
6. The multiple data link positioning method according to claim 5, wherein the correcting the first positioning data by the second positioning data and/or the third positioning data and using the correction result as the position data, further comprises:
within a second preset time when the flight control unit receives the second positioning data and the third positioning data, if the flight control unit receives the first positioning data, the first positioning data is corrected through the second positioning data and/or the third positioning data, and a correction result is used as the position data;
and if the flight control unit does not receive the first positioning data, comparing the second positioning data with the third positioning data to obtain fourth positioning data, and taking the fourth positioning data as the position data.
7. A method for positioning multiple data links in a control station, the method comprising:
when an acquisition instruction of a flight control unit of the aircraft for position data is acquired, acquiring positioning data through a second differential positioning module of the control station;
sending the positioning data as second positioning data to a first spread spectrum communication module of an aircraft through a second spread spectrum communication module connected with the second differential positioning module;
transmitting the positioning data as third positioning data to a first cellular communication module of the aircraft through a second cellular communication module connected to the second differential positioning module;
and after the aircraft receives the second positioning data and/or the third positioning data, correcting the first positioning data acquired by the first differential positioning module of the aircraft through the second positioning data and/or the third positioning data, and taking a correction result as the position data.
8. A multiple data link positioning system, the system comprising an aircraft and a control station, wherein:
the aircraft comprises a flight control unit, a first differential positioning module connected with the flight control unit, a first spread spectrum communication module connected with the first differential positioning module, and a first cellular communication module connected with the flight control unit;
the control station comprises a second differential positioning module, a second spread spectrum communication module connected with the second differential positioning module and a second cellular communication module connected with the second differential positioning module;
the flight control unit is used for receiving first positioning data acquired by the first differential positioning module;
the flight control unit is further used for receiving second positioning data sent by a second spread spectrum communication module of the control station through a first spread spectrum communication module connected with the first differential positioning module;
the flight control unit is further configured to receive, via a first cellular communication module connected to the flight control unit, third positioning data sent by a second cellular communication module of the control station;
the flight control unit is further configured to correct the first positioning data by the second positioning data and/or the third positioning data, and use a correction result as the position data.
9. A multiple data link positioning apparatus comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the computer program when executed by the processor implementing the steps of the multiple data link positioning method as claimed in any one of claims 1 to 7.
10. A computer-readable storage medium having stored thereon a multiple data link positioning program, the multiple data link positioning program when executed by a processor implementing the steps of the multiple data link positioning method as claimed in any one of claims 1 to 7.
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| CN202211460022.7A CN115776722A (en) | 2022-11-17 | 2022-11-17 | Multi-data link positioning method, system, device and computer readable storage medium |
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| CN202211460022.7A CN115776722A (en) | 2022-11-17 | 2022-11-17 | Multi-data link positioning method, system, device and computer readable storage medium |
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